01197nas a2200121   4500008004300000245012700043210006900170260001300239520074500252100002200997700002001019856003601039       2003                        en_Ud  00aMotion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group0 aMotion on submanifolds of noninvariant holonomic constraints for  bElsevier3 aFor a control system on a matrix Lie group with one or more configuration constraints that are not left/right invariant, finding the combinations of (kinematic) control inputs satisfying the motion constraints is not a trivial problem. Two methods, one coordinate-dependent and the other coordinate-free are suggested. The first is based on the Wei-Norman formula; the second on the calculation of the annihilator of the coadjoint action of the constraint one-form at each point of the group manifold. The results are applied to a control system on SE(3) with a holonomic inertial constraint involving the noncommutative part in a nontrivial way. The difference in terms of compactness of the result between the two methods is considerable.1 aAltafini, Claudio1 aFrezza, Ruggero  uhttp://hdl.handle.net/1963/3018